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<div class="title">gyroscope_cost_functor.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CALICO_SENSORS_GYROSCOPE_COST_FUNCTOR_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CALICO_SENSORS_GYROSCOPE_COST_FUNCTOR_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;calico/geometry.h&quot;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;calico/sensors/gyroscope_models.h&quot;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;calico/trajectory.h&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;ceres/cost_function.h&quot;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecalico_1_1sensors.html">calico::sensors</a> {</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">// Enum listing the positions of parameters for a gyroscope cost function.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">enum class</span> GyroscopeParameterIndices : int {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="comment">// Gyroscope intrinsics.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  kIntrinsicsIndex = 0,</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="comment">// Extrinsics parameters of the gyroscope relative to its sensor rig.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  kExtrinsicsRotationIndex = 1,</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  kExtrinsicsTranslationIndex = 2,</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="comment">// Sensor latency.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  kLatencyIndex = 3,</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="comment">// Rotation and position control points of the appropriate spline segment as an</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="comment">// Nx6 matrix.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  kSensorRigPoseSplineControlPointsIndex = 4</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;};</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Generic auto-differentiation gyroscope cost functor. Residuals will be based on</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// how the gyroscope model is initialized.</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1GyroscopeCostFunctor.html">   28</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1GyroscopeCostFunctor.html">GyroscopeCostFunctor</a> {</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kGyroscopeResidualSize = 3;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">explicit</span> <a class="code" href="classcalico_1_1sensors_1_1GyroscopeCostFunctor.html">GyroscopeCostFunctor</a>(</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      <a class="code" href="namespacecalico_1_1sensors.html#a3a17fd4af1cc53c28ec7130fdad5f22d">GyroscopeIntrinsicsModel</a> gyroscope_model,</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d&amp; measurement, <span class="keywordtype">double</span> sigma, <span class="keywordtype">double</span> stamp,</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;      <span class="keyword">const</span> <a class="code" href="classcalico_1_1Trajectory.html">Trajectory</a>&amp; sp_T_world_sensorrig);</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="comment">// Convenience function for creating a gyroscope cost function.</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">static</span> ceres::CostFunction* CreateCostFunction(</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d&amp; measurement, <span class="keywordtype">double</span> sigma,</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <a class="code" href="namespacecalico_1_1sensors.html#a3a17fd4af1cc53c28ec7130fdad5f22d">GyroscopeIntrinsicsModel</a> gyroscope_model, Eigen::VectorXd&amp; intrinsics,</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a>&amp; extrinsics, <span class="keywordtype">double</span>&amp; latency,</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <a class="code" href="classcalico_1_1Trajectory.html">Trajectory</a>&amp; trajectory_world_sensorrig, <span class="keywordtype">double</span> stamp,</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      std::vector&lt;double*&gt;&amp; parameters);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">// Parameters to the cost function:</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="comment">//   intrinsics:</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="comment">//     All parameters in the intrinsics model as an Eigen column vector.</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="comment">//     Order of the parameters will need to be in agreement with the model</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="comment">//     being used.</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">//   q_sensorrig_gyroscope:</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="comment">//     Rotation from sensorrig frame to gyroscope frame as a quaternion.</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="comment">//   t_sensorrig_gyroscope:</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">//     Position of gyroscope relative to sensorrig origin resolved in the</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">//     sensorrig frame.</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">//   latency:</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">//     Sensor latency in seconds.</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="comment">//   control_points:</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">//     Control points for the entire pose trajectory.</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">bool</span> operator()(T <span class="keyword">const</span>* <span class="keyword">const</span>* parameters, T* residual) {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">// Parse intrinsics.</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">const</span> T* intrinsics_ptr =</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>T*<span class="keyword">&gt;</span>(&amp;(parameters[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          GyroscopeParameterIndices::kIntrinsicsIndex)][0]));</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> parameter_size = gyroscope_model_-&gt;NumberOfParameters();</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">const</span> Eigen::VectorX&lt;T&gt; intrinsics = Eigen::Map&lt;const Eigen::VectorX&lt;T&gt;&gt;(</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        intrinsics_ptr, parameter_size);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// Parse extrinsics.</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">const</span> Eigen::Map&lt;const Eigen::Quaternion&lt;T&gt;&gt; q_sensorrig_gyroscope(</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        &amp;(parameters[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            GyroscopeParameterIndices::kExtrinsicsRotationIndex)][0]));</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">const</span> Eigen::Map&lt;const Eigen::Vector3&lt;T&gt;&gt; t_sensorrig_gyroscope(</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        &amp;(parameters[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            GyroscopeParameterIndices::kExtrinsicsTranslationIndex)][0]));</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// Parse latency.</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">const</span> T latency =</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        parameters[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            GyroscopeParameterIndices::kLatencyIndex)][0];</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">// Parse sensor rig spline resolved in the world frame.</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; num_control_points =</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        trajectory_evaluation_params_.num_control_points;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;   Eigen::MatrixX&lt;T&gt; control_points(num_control_points, 6);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_control_points; ++i) {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      control_points.row(i) = Eigen::Map&lt;const Eigen::Vector&lt;T, 6&gt;&gt;(</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          &amp;(parameters[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;              GyroscopeParameterIndices::kSensorRigPoseSplineControlPointsIndex</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;              ) + i][0]));</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">const</span> Eigen::MatrixX&lt;T&gt; basis_matrix =</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        trajectory_evaluation_params_.basis_matrix.template cast&lt;T&gt;();</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">const</span> T knot0 = <span class="keyword">static_cast&lt;</span>T<span class="keyword">&gt;</span>(trajectory_evaluation_params_.knot0);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keyword">const</span> T knot1 = <span class="keyword">static_cast&lt;</span>T<span class="keyword">&gt;</span>(trajectory_evaluation_params_.knot1);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keyword">const</span> T stamp =</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keyword">static_cast&lt;</span>T<span class="keyword">&gt;</span>(trajectory_evaluation_params_.stamp) - latency;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">// Evaluate the pose and pose rate.</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keyword">const</span> Eigen::Vector&lt;T, 6&gt; pose_vector = <a class="code" href="classcalico_1_1BSpline.html">BSpline&lt;6, T&gt;::Evaluate</a>(</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        control_points, knot0, knot1, basis_matrix, stamp, <span class="comment">/*derivative=*/</span>0);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">const</span> Eigen::Vector&lt;T, 6&gt; pose_dot_vector = <a class="code" href="classcalico_1_1BSpline.html">BSpline&lt;6, T&gt;::Evaluate</a>(</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        control_points, knot0, knot1, basis_matrix, stamp, <span class="comment">/*derivative=*/</span>1);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">// Compute the angular velocity of the gyroscope.</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="comment">// TODO(yangjames): Also evaluate acceleration for g-sensitivity</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="comment">//                  calculations.</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keyword">const</span> Eigen::Vector3&lt;T&gt; phi_sensorrig_world = -pose_vector.head(3);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">const</span> Eigen::Vector3&lt;T&gt; phi_dot_sensorrig_world = -pose_dot_vector.head(3);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">const</span> Eigen::Matrix3&lt;T&gt; J = <a class="code" href="namespacecalico.html#a405ed3df9c4ed8eebcabe5ec92d6717e">ExpSO3Jacobian</a>(phi_sensorrig_world);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">const</span> Eigen::Vector3&lt;T&gt; omega_sensorrig_world = J * phi_dot_sensorrig_world;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keyword">const</span> Eigen::Vector3&lt;T&gt; omega_gyroscope_world =</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        -(q_sensorrig_gyroscope.inverse() * omega_sensorrig_world);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="comment">// Project the sensor angular velocity through the gyroscope model.</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">const</span> absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; projection =</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        gyroscope_model_-&gt;Project(intrinsics, omega_gyroscope_world);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">if</span> (projection.ok()) {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      Eigen::Map&lt;Eigen::Vector3&lt;T&gt;&gt; error(residual);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">const</span> Eigen::Vector3&lt;T&gt; measurement = measurement_.template cast&lt;T&gt;();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      error = (measurement - *projection) * <span class="keyword">static_cast&lt;</span>T<span class="keyword">&gt;</span>(information_);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  Eigen::Vector3d measurement_;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">double</span> information_;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  std::unique_ptr&lt;GyroscopeModel&gt; gyroscope_model_;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <a class="code" href="structcalico_1_1TrajectoryEvaluationParams.html">TrajectoryEvaluationParams</a> trajectory_evaluation_params_;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;};</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;} <span class="comment">// namespace calico::sensors</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// CALICO_SENSORS_GYROSCOPE_COST_FUNCTOR_H_</span></div>
<div class="ttc" id="aclasscalico_1_1BSpline_html"><div class="ttname"><a href="classcalico_1_1BSpline.html">calico::BSpline</a></div><div class="ttdef"><b>Definition:</b> bspline.h:17</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html"><div class="ttname"><a href="classcalico_1_1Pose3.html">calico::Pose3&lt; double &gt;</a></div></div>
<div class="ttc" id="aclasscalico_1_1Trajectory_html"><div class="ttname"><a href="classcalico_1_1Trajectory.html">calico::Trajectory</a></div><div class="ttdef"><b>Definition:</b> trajectory.h:25</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1GyroscopeCostFunctor_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1GyroscopeCostFunctor.html">calico::sensors::GyroscopeCostFunctor</a></div><div class="ttdef"><b>Definition:</b> gyroscope_cost_functor.h:28</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html"><div class="ttname"><a href="namespacecalico_1_1sensors.html">calico::sensors</a></div><div class="ttdoc">Sensors namespace.</div><div class="ttdef"><b>Definition:</b> accelerometer.cpp:8</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a3a17fd4af1cc53c28ec7130fdad5f22d"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a3a17fd4af1cc53c28ec7130fdad5f22d">calico::sensors::GyroscopeIntrinsicsModel</a></div><div class="ttdeci">GyroscopeIntrinsicsModel</div><div class="ttdoc">Gyroscope model types.</div><div class="ttdef"><b>Definition:</b> gyroscope_models.h:16</div></div>
<div class="ttc" id="anamespacecalico_html_a405ed3df9c4ed8eebcabe5ec92d6717e"><div class="ttname"><a href="namespacecalico.html#a405ed3df9c4ed8eebcabe5ec92d6717e">calico::ExpSO3Jacobian</a></div><div class="ttdeci">Eigen::Matrix3&lt; T &gt; ExpSO3Jacobian(const Eigen::Vector3&lt; T &gt; &amp;phi)</div><div class="ttdef"><b>Definition:</b> geometry.h:138</div></div>
<div class="ttc" id="astructcalico_1_1TrajectoryEvaluationParams_html"><div class="ttname"><a href="structcalico_1_1TrajectoryEvaluationParams.html">calico::TrajectoryEvaluationParams</a></div><div class="ttdef"><b>Definition:</b> trajectory.h:14</div></div>
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